The invention discloses a vehicle transverse control method, electronic equipment, a medium, a control system and a vehicle. The vehicle transverse control method comprises the steps that it is determined that the vehicle is in a curve driving working condition; determining a side slip angle of each wheel of the vehicle according to the vehicle curve driving parameters; determining a curve driving compensation angle according to the side slip angle of each wheel of the vehicle; the driving wheel is controlled to steer according to the compensated driving wheel rotation angle, and the compensated driving wheel rotation angle is determined by compensating the target driving wheel rotation angle according to the curve driving compensation angle. According to the method, accurate transverse control over the curve driving state of the vehicle is achieved, the problem that in the prior art, due to accumulative error feedback or direct feedback, a steering wheel swings or the vehicle draws a dragon is effectively solved, and the situation that the vehicle deviates from the center of a lane due to insufficient or excessive steering is reduced; therefore, the centering property and the stability of transverse control of the vehicle when the vehicle runs on the curve are improved.
本发明公开了一种车辆横向控制方法、电子设备、介质、控制系统和车辆,其中,车辆横向控制方法包括:确定车辆处于弯道行驶工况;根据车辆弯道行驶参数确定车辆各车轮的侧偏角;根据所述车辆各车轮的侧偏角确定弯道行驶补偿角;根据补偿后的驱动轮转角控制驱动轮转向,其中,补偿后的驱动轮转角是根据弯道行驶补偿角对目标驱动轮转角进行补偿确定的。本发明的方法实现了对车辆弯道行驶状态的精准横向控制,有效解决了现有技术中因累积误差反馈或直接反馈导致的方向盘摆动或车辆“画龙”现象问题,减少了车辆因转向不足或过度而偏离车道中心的情况,从而提高了车辆在弯道行驶时车辆横向控制的居中性和稳定性。
Vehicle transverse control method, electronic equipment, medium, control system and vehicle
车辆横向控制方法、电子设备、介质、控制系统和车辆
18.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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